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用于船舶升沉运动估算的自适应数字滤波器
Alternative TitleAdaptive digital filter for vessel’s heave motion estimation
陈琦; 李格伦; 李智刚
Department水下机器人研究室
Source Publication中国惯性技术学报
ISSN1005-6734
2018
Volume26Issue:4Pages:421-427
Indexed ByEI ; CSCD
EI Accession number20191006611356
CSCD IDCSCD:6356962
Contribution Rank1
Funding Organization国家自然科学基金(51609236)
Keyword升沉运动 位移估算 自适应数字滤波器 惯性测量单元
Abstract为获取精确的船舶升沉运动位移数据,提出了一种估算升沉运动位移的自适应数字滤波器。将惯性测量单元采集的加速度数据进行二次积分运算,并采用自适应数字滤波器对二次积分运算结果进行处理。通过参考"大洋一号"科学考察船采集的真实升沉运动数据,将自适应数字滤波器与传统数字滤波器的处理效果进行了模拟实验对比,当模拟海况等级为4级和5级时,自适应数字滤波器比传统数字滤波器估算出的位移偏差的均方差指标分别降低了80%和85%。实验结果验证了自适应数字滤波器能够显著地提高船舶升沉位移的估算精度。
Other AbstractTo obtain accurate estimation of the heave position, an adaptive digital filter is proposed to improve the estimation accuracy of a vessel’s heave motion. The double-integration of the heave acceleration measured from the inertial measurement unit (IMU) is processed by the adaptive digital filter. The experiment results show that, compared with the traditional digital filter which uses the real heave motion data from the “Da Yang Yi Hao” scientific research vessel, the proposed adaptive digital filter reduces the mean variances of the position deviation by 80% and 85% at level 4 and 5 sea state respectively, which demonstrate that the adaptive digital filter can significantly improve the estimation accuracy of a vessel’s heave motion.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/23404
Collection水下机器人研究室
Corresponding Author陈琦
Affiliation中国科学院沈阳自动化研究所机器人学国家重点实验室
Recommended Citation
GB/T 7714
陈琦,李格伦,李智刚. 用于船舶升沉运动估算的自适应数字滤波器[J]. 中国惯性技术学报,2018,26(4):421-427.
APA 陈琦,李格伦,&李智刚.(2018).用于船舶升沉运动估算的自适应数字滤波器.中国惯性技术学报,26(4),421-427.
MLA 陈琦,et al."用于船舶升沉运动估算的自适应数字滤波器".中国惯性技术学报 26.4(2018):421-427.
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